Servo Movement Smoothing via Linear Curve Construction
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Solution Overview
Problem
Current servo movement smoothing methods, such as the cubic Bessel formula, require high hardware performance due to their large calculation amounts, making them inefficient for servos with limited capabilities.
Innovation Solution
A method and device for servo movement smoothing that constructs a movement curve using linear functions of sine or cosine functions, reducing calculation complexity and hardware requirements, and employs table querying for efficient servo control, especially suitable for servos with poor hardware performance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If cubic Bessel formula is used for servo movement smoothing, then movement smoothness is improved, but calculation amount increases significantly
Solution Approach 1:
The patent replaces the complex cubic Bessel formula with a simpler quadratic formula that requires fewer computational resources. The new formula uses basic arithmetic operations (multiplication, addition, subtraction) instead of complex polynomial calculations, making it suitable for servos with limited hardware capabilities while still achieving acceptable movement smoothness.
Solution Approach 2:
The patent changes the mathematical parameters of the smoothing formula from cubic (third-order) to quadratic (second-order), reducing the computational complexity. This parameter change maintains the essential smoothing function while significantly lowering the calculation burden on the servo system.
2Manufacturing precision
If cubic Bessel formula is used for servo movement smoothing, then movement smoothness is improved, but hardware performance requirements increase
Solution Approach 1:
The patent employs a computationally lighter quadratic formula that reduces the processing power requirements for servo control. This allows servos with weaker hardware capabilities to achieve smooth movement without requiring high-performance processors or additional computational resources.
3Manufacturing precision
If complex smoothing algorithms are used, then movement smoothness is improved, but processing speed decreases
Solution Approach 1:
The patent uses a simplified quadratic smoothing formula that requires fewer computational steps and less processing time per control cycle. This enables faster real-time control while maintaining acceptable movement smoothness, improving the overall responsiveness and processing speed of the servo system.
Data Source
AI summary
The present disclosure relates to servo control technology, which provides a method, device, and terminal device for servo movement smoothing. The method includes: obtaining a starting position and a control command for a rotation of an output shaft the servo; determining an ending position and a rotation time for the rotation of the output shaft in accordance with the control command; constructing a movement curve of the output shaft based on the starting position, the ending position, and the rotation time; and controlling the output shaft to rotate from the starting position to the ending position in accordance with the movement curve. The above-mentioned method smooths the movement of the servo by constructing a simple linear function, which greatly reduces the calculation amount in comparison with the technical solution using the cubic Bessel formula, and is capable of reducing the requirements for the hardware performance of servos.